CN102568237B

CN102568237B - There is the trackless transit system of adaptability vehicle

Info

Publication number: CN102568237B
Application number: CN201110290668.0A
Authority: CN
Inventors: P·L·孔恩; G·B·史蒂芬斯
Original assignee: Boeing Co
Current assignee: Boeing Co
Priority date: 2010-09-22
Filing date: 2011-09-21
Publication date: 2016-12-21
Anticipated expiration: 2031-09-21
Also published as: CA2752779A1; US8793036B2; CN102568237A; EP2437129B1; ES2776236T3; US20120072051A1; AU2011205103B2; CA2752779C; AU2011205103A1; EP2437129A2; JP5863331B2; JP2012068236A; EP2437129A3

Abstract

Technology described here is used for providing trackless transit system and controlling this intrasystem adaptability trackless vehicle.Its each side includes the autonomous vehicular traffic system of the vehicle motion of the trackless vehicle in controlling traffic system.This system includes order, control and arranging system (CCOS) and vehicle control device.Each vehicle control device associates trackless vehicle and the current location that communicates with CCOS, receives navigation command, and controls trackless vehicle according to navigation command.Additionally, CCOS provides navigation command to vehicle control device, thus according to the motion of the trackless vehicle in the vehicle position information control traffic system received from vehicle control device.According to embodiment, trackless vehicle can be changed between the system control model that driver's control model that vehicle is controlled by driver and vehicle are controlled by CCOS.

Description

There is the trackless transit system of adaptability vehicle

Technical field

The application relates to trackless transit system and the method controlling this intrasystem adaptability trackless vehicle.

Background technology

Many places all use public transportation system thus by passenger from a local transport in controlled environment in the world To another place.Its example includes but not limited to subway, tramcar and train.Traditional public transportation system generally utilizes Track or the guiding mechanism that some is similar, thus control vehicle motion between the station specified.Do so provides fixing Route, plurality of railroad vehicle, such as train, can be controlled thus provide between each station in a secured manner can be pre- The crowd's transport surveyed.But, these typical public transportation systems require that public transport taken advantage of by the vehicle that people do not carry its people System is travelled, and the timetable indicated according to this system.These traditional public transportation systems based on track are completely independent also With individual and commercial vehicle use environment distinguish because automobile such as car, bus and truck be not configured thus With public transportation system intercommunication being controlled.

Being guided through track between the station formulated additionally, be as noted previously, as typical utility car, these vehicles are subject to Its direct of travel and the restriction of destination that can arrive thereof.As a result, the user of tradition public transportation system is only limited to specifying Station between at the time travel specified, and be only limited to its article that can carry and load in utility car. In order to make utility car arrive new position, needing to install other track and support infrastructure, it needs sizable money This expenditure and can have negative environmental consequences.

There are needs to such transportation system, i.e. its provide with autonomous central authorities control traffic system convenience and The advantage of safety, also provides for user's control and the motility of vehicle having and practicality.Disclosure herein relates to these And other considers.

Summary of the invention

It is described herein for providing trackless transit system and controlling the technology of this intrasystem adaptability trackless vehicle.Logical Cross the utilization of technology and the design herein proposed, the one or more trackless vehicles in this traffic system of control system remote pilot Motion.By utilizing trackless vehicle, control system can control the motion of the vehicle in traffic system, and not by track or other Guide the guiding of mechanism.This vehicle can selectivity conversion between the operation in system control model and driver's control model.

According to the one side of the disclosure, hand over for controlling the autonomous vehicle of the vehicle motion of the trackless vehicle in traffic system Way system includes order, control and arranging system (CCOS) and vehicle control device.Each vehicle control device associates trolley-bus And vehicle position information is communicated to CCOS, receive navigation command, and control trackless vehicle according to navigation command.This Outward, CCOS provides navigation command to vehicle control device, thus controls to hand over according to the vehicle position information received from vehicle control device The motion of the trackless vehicle in way system.

In another aspect of the present disclosure, include for controlling the method for autonomous vehicular traffic intrasystem trackless vehicle motion The destination address of trackless vehicle is sent to CCOS.From CCOS receive corresponding to by trackless vehicle along from current location to destination address Vehicle route navigation navigation command.Then this navigation command is performed, in order to by trackless vehicle edge from current location to purpose The vehicle route navigation of address.

It yet still another aspect, the vehicle autonomy kit of the vehicle for navigating in traffic system includes position sensor, it is used In the current location following the tracks of vehicle.Autonomy kit also includes vehicle detecting sensor, and it is configured thus perception vehicle environmental, and It is communicated to vehicle control device.Vehicle control device is configured thus sends by the vehicle of vehicle detecting sensor perception to CCOS Environment, and accept the navigation command for the vehicle that navigates in control area in non-guide mode from CCOS.With wagon control The line traffic control module of device communication is configured, thus the navigation command received according to vehicle control device controls speed and the direction of vehicle.

It should be appreciated that without departing from the spirit of the disclosure, above-mentioned theme also apply be applicable to other embodiments various.Read following detailed Describe in detail bright and after observing accompanying drawing, it will be apparent that these and other features various.

Thering is provided this summary is the part in order to introduce design in a simplified manner, and it is further in will be described in detail below Describe.This summary is not intended to determine that key feature or the basic feature of required theme, this summary are also not intended to be used for limiting wanted The scope of the theme asked.Additionally, required theme be not limited to solve the present invention any a part propose any or all lack The embodiment of point.

Accompanying drawing explanation

Fig. 1 illustrates according to the autonomous trackless transit system of some embodiment diagram and the system architecture diagram of adaptability vehicle；

Fig. 2 illustrates in being associated in traffic system according to the diagram of some embodiment the frame of the vehicle autonomy kit of the vehicle operated Composition；

Fig. 3 illustrates each of the process according to some embodiment diagram vehicle in controlling traffic system disclosed herein The flow chart of aspect；

Fig. 4 illustrates each of the process according to some embodiment diagram vehicle in controlling traffic system disclosed herein The flow chart of aspect；

Fig. 5 illustrates and illustrates the emergency vehicle in controlling traffic system disclosed herein according to some embodiment The flow chart of each side of process；And

Fig. 6 illustrates computer rack composition, and it illustrates for calculate the embodiment each side that is able to carry out herein proposing and is The exemplary computer hardware structure of system.

Detailed description of the invention

Described here is such technology, and it is used for providing trackless transit system and controlling this intrasystem adaptability Trackless vehicle.By technology disclosed herein and the utilization of design, can in controlled area by the order of trackless transit system, Control and the one or more trackless vehicle of arranging system (CCOS) remote control.By utilizing trackless vehicle, vehicle wheeled is to controlled Each position in region, and not by track or similar guiding mechanism guides.This vehicle can be adaptive, in order to this car Optionally being operated by the system control model in controlled area and by the driver's control model outside controlled area Change between operation.

According to embodiment, adaptability trackless vehicle can include vehicle autonomy kit, and it is configured thus allows CCOS control Vehicle.Vehicle autonomy kit includes vehicle control device, position sensor and line traffic control module, and the latter operates the driving group of associated vehicle Part.Driving controller can be configured thus from position sensor receiving position information, and sends positional information to CCOS.So After, CCOS can determine that current location and the destination address of vehicle traveling of vehicle.Based on current location and destination address, CCOS Determine that vehicle should travel thus the vehicle route of the location that reaches the destination.Then, CCOS sends navigation command to vehicle control device, so The latter and line traffic control module carry out the communication of these navigation command.Then, the line traffic control module of vehicle is driven by actuator operation Assembly, such as, turn to, brake, accelerate and transmission component, thus the vehicle route determined according to CCOS, by automobile navigation to mesh Address.

Vehicle autonomy kit can be configured thus is arranged in traditional automobile, such as car, bus or truck. By which, traditional automobile can be improved, thus include automobile autonomy kit, in order to this automobile can be by controlled area CCOS autonomous control.As a result, adaptability trackless transit system can in controlled area smooth operation, this system includes autonomous trackless Vehicle and adaptability vehicle, it is configured thus by CCOS autonomous control.

In the following detailed description, the accompanying drawing a part of with reference to forming this explanation, it is by diagram, specific embodiment or example The mode of son illustrates.With reference now to accompanying drawing, wherein running through a few width figure, identical numeral all represents identical element, description is depended on The trackless transit system with adaptability vehicle according to different embodiments.

Fig. 1 is the autonomous trackless transit system of diagram and the system architecture diagram of adaptability vehicle.Traffic system 100 includes controlled Many vehicle 102A-102N in region 101.Vehicle 102A-102N hereinafter can be commonly referred to one or more vehicles 102.Controlled area 101 can be any such space, and wherein vehicle 102 can be by order, control and arranging system (CCOS) Control.After the discussion of vehicle 102 and CCOS 106, it will thus provide discussing in detail of controlled area 101.System architecture 100 also may be used Can be communicated with CCOS 106 by the latter including one or more kiosks 114, passenger or user.

Vehicle 102 can include any vehicle that can be controlled in controlled area 101 by CCOS 106.According to an enforcement Example, vehicle 102 includes the trackless vehicle that can be navigated in controlled area 101 by non-guide mode, in order to this vehicle can Navigate in controlled area and do not use track or other guiding mechanisms, such as Magnet, laser, guide rail etc..An embodiment In, vehicle 102 is configured, thus is controlled by CCOS 106, in order to vehicle 102 can travel in any direction, and be not limited to by In the special travel direction that the inherent limitations of guide makes.

According to an embodiment, vehicle 102A is such vehicle, and it is configured thus is guided by track, and vehicle 102B is Trackless vehicle, it runs when being controlled by CCOS 106, and vehicle 102N is manned vehicle, such as automobile, and it can With system control model run, wherein when controlled area 101 in operation time, this vehicle by CCOS 106 autonomous control, or Can run with driver's control model, vehicle is by driver's control in this mode.Each vehicle 102 may be provided with vehicle Autonomy kit 104, when it is implemented on vehicle 102, it is allowed to CCOS 106 controls vehicle 102.It should be appreciated that vehicle 102A- 102N can run in controlled area 101 in the same time, in order to CCOS 106 can control each vehicle 102A-102N simultaneously. Although for purposes of this disclosure, CCOS 106 is configured thus adjusts and control vehicle 102, but CCOS 106 can be configured Thus coordinate and control such object, it can travel to another location from a position in controlled area 101.

CCOS 106 can be such system, and it is coordinated and controls multiple in the controlled area 101 of traffic system 100 Vehicle 102.CCOS 106 can implement as the combination of hardware, software or hardware and software.CCOS 106 can include one or more Multiprogram, application software or module, it coordinates and controls the various functions of vehicle in implementing to be associated in controlled area 101. Run through this explanation in detail, CCOS 106 can in controlled area 101 by vehicle from a position co-ordination, control and send (route) to another location.According to embodiment, CCOS 106 can include vehicle localization module 108 and wireless communication module 110.

Vehicle localization module 108 can be configured so that it is determined that each vehicle 102 current location in controlled area 101. According to an embodiment, vehicle localization module 108 uses global positioning system (GPS) technology to determine the current location of vehicle.? In various embodiments, vehicle localization module 108 can receive vehicle position information from each vehicle 102.According to this embodiment a kind of, Vehicle may utilize optic position sensor, thus observes the ground optical position labelling of controlled area 101, or at some In the case of, available optic position sensor, thus observe the optical position mark on the end face of capped controlled area 101 Note.Optical position labelling can pass through position sensor (as shown in Figure 2) perception, the latter be the vehicle that is arranged on vehicle 102 from Control a part for external member 104.In a further embodiment, integrated, GPS, ranging and inertial sensor can be used to determine vehicle position Put.In one embodiment, available hybrid optical/inertial sensor is arranged, so that it is determined that vehicle 102 is at controlled area Current location in 101.It should be appreciated that the known technology of various quantity and type can be used, so that it is determined that the position of vehicle 102. It should be appreciated that vehicle localization module 108 can be of any other module, program or the application software that are performed by CCOS 106 Point.

Then, the current location of vehicle 102 can be communicated to CCOS106 by vehicle localization module 108, and the latter utilizes vehicle Destination, so that it is determined that vehicle route, is expected for vehicle 102 navigates to it from its current location in the current location of 102. CCOS 106 by the manual request received from the passenger communicated with CCOS 106 or user, or can pass through based on predetermined Timetable computer produce request, determine the expectation destination of vehicle.

According to different embodiments, CCOS 106 is configured thus manages request, and controls in controlled area 101 Or the operation of more vehicle 102.In order to control vehicle 102, CCOS106 can be configured thus produces concurrently to each vehicle 102 Send navigation command.Navigation command can include the instruction that can be performed by vehicle 102, its make vehicle 102 at a given speed and Direction travels along vehicle route.Further, since CCOS 106 can be configured thus controls multiple vehicle, CCOS 106 can be with this The mode of sample determines vehicle route, in order to avoid traffic jam, vehicle collision and any other traffic dependent event.As a result, By the way of the disclosure, CCOS can promote the traffic flow in controlled area 101, reduces the risk of collision simultaneously.

As briefly described above, CCOS 106 be configured thus receive and the vehicle that performs in sending controlled area 101 please Ask.This request may be included in primary importance and is loaded into passenger and by passenger with the request to the second position.Other requests can include Lorry is sent to the 4th position from the 3rd position.It addition, other request can include according to predetermined timetable, Bus is sent to bus stop B to bus stop C to the request of bus stop D from bus stop A.According to Embodiment, this request can receive from the operator communicated with CCOS 106 or passenger, or based on predetermined timetable by Computer produces.

Once receiving the request of the vehicle 102 sent in controlled area 101, CCOS 106 allows for vehicle 102 according to asking Ask transmission.Using and be loaded into passenger and by passenger with to the request of the second position in primary importance, CCOS 106 is determined to Meet this request the vehicle closest to primary importance.Once it is determined that disclosure satisfy that this request and the car closest to primary importance List, CCOS 106 is just configured thus selects immediate available vehicle, thus meets this request and will select Vehicle sends to primary importance.Once vehicle arrives at primary importance, and CCOS 106 just can be configured thus opens vehicle 102 Door, thus allow passenger to take this vehicle.Then, CCOS 106 determines the vehicle route from primary importance to the second position, and And make vehicle 102 travel to the second position along this vehicle route by sending navigation command to vehicle 102.

According to embodiment, CCOS 106 can be configured further thus perform about the vehicle controlled in controlled area 101 Other functions various, such as open and close the door of associated vehicle, adjust the illumination in environmental condition, such as vehicle and temperature Degree, and pass through user input apparatus and the passenger traffic of vehicle.It should be appreciated that the function of CCOS 106 can be by CCOS 106 Any other module of interior operation, program or application software perform.

According to embodiment, CCOS 106 may also comprise wireless communication module 110.Wireless communication module 110 can be configured from And manage, set up and terminate the communication between each vehicle 102 and CCOS 106.It addition, wireless communication module 110 also can be managed Reason, set up and terminate and the communication of one or more kiosks 114, wherein passenger by the latter can ask vehicle, payment, Make travel arrangements and other functions.It should be appreciated that wireless communication module 110 can be performed by CCOS 106 any other module, Program or a part for application software.

System architecture 100 may also comprise one or more kiosks 114A-114N.Hereinafter, kiosks 114A-114N is commonly referred to one or more kiosks 114.According to an embodiment, Self-help vehicle server 114 can It is positioned at vehicle 102, in order to the passenger in vehicle can change its destination address, for using this payment from vehicles and arranging not The travelling come.Stand alone type kiosks 114 can be located at each position in controlled area 101.It should be appreciated that be positioned at controlled area In territory 101, the free-standing kiosks 114 of each position is compared, be positioned at the kiosks 114 of vehicle can have identical, Additionally or limited functional.

According to embodiment, kiosks 114 can be configured thus provides user interface, and it is for being asked vehicle by user 102, a passenger position in controlled area 101 is transported to another location.It addition, user can send a request to CCOS 106, thus vehicle 102 is sent to ad-hoc location.Kiosks 114 can provide other functions, such as, show the waiting time, Freight, and be configured further thus receive the paying of user.It addition, kiosks 114 can be configured thus to User provides interface, is used for calling emergency vehicle, such as ambulance or fire fighting truck.Kiosks 114 also can be configured Thus do predetermined for following itinerary.

It should be appreciated that kiosks 114 can be the user input apparatus of touch panel device or any other type.According to one Individual embodiment, kiosks 114 can perform as the software application in mobile device, such as mobile phone, on knee Computer or other communicators.

As briefly described above, controlled area 101 described here can be any space, and wherein vehicle 102 can be by CCOS 106 Control.In different embodiments, the autonomous vehicle 102 being only limited to be controlled by CCOS 106 enters controlled area 101.So And, in one embodiment, controlled area 101 can include inlet and outlet, so as to transports outward in the boundary line of controlled area 101 The vehicle of row can enter and leave controlled area 101 by inlet and outlet respectively.

Such as, the orthodox car with the ability that can be controlled by CCOS 106 can enter controlled area 101 by import. But, before entering controlled area 101 by import, vehicle can be converted to system control model from driver's control model, In the former driver can manually-operated vehicle, in the latter, vehicle is by CCOS 106 autonomous control.Once vehicle is changed to system Control model operates, and CCOS 106 can be configured thus sets up the communication with vehicle, and CCOS 106 can be by this Control on Communication car ?.According to an embodiment, once vehicle conversion being operated to system control model, vehicle autonomy kit 104 is just mechanically connected One or more actuators, the latter controls the driving assembly of vehicle, in order to vehicle autonomy kit 104 can be to one or more actuatings Device sends instruction, for controlling the motion of vehicle 102.

Similarly, when vehicle prepares to exit controlled area 101, vehicle is sent to outlet by CCOS 106.In exit, Vehicle conversion can be operated by the driver of vehicle to driver's control model, in order to CCOS 106 no longer controls vehicle.Once car Being in driver's control model, driver can manually-operated vehicle again.According to an embodiment, once vehicle is converted to Driver's control model operate, vehicle autonomy kit 104 just with one or more control vehicles driving assembly actuator machine Tool separates, in order to vehicle autonomy kit 104 no longer can send the motion for controlling vehicle 102 to one or more actuators Instruction.As a result, vehicle can no longer be controlled by CCOS 106.

In one embodiment, it is possible to allow the vehicle run with driver's control model to enter controlled area 101.Example As, emergency vehicle, such as ambulance and fire fighting truck, it can be configured thus manual operation in controlled area 101.So And, in this embodiment, CCOS can determine the current location of emergency vehicle and the direction of traveling, and makes controlled area The transit route of other the autonomous vehicles 102 in territory 101 is away from the route of emergency vehicle.

With reference now to Fig. 2, it illustrates such Organization Chart, wherein illustrates the vehicle autonomy kit 104 of associated vehicle.Vehicle Autonomy kit 104 includes vehicle control device 202, its be configured thus with one of vehicle autonomy kit 104 and CCOS 106 Or more multicompartment communication.

According to different embodiments, vehicle control device 202 can be configured thus communicates with kiosks 114, and it provides class It is similar to above with respect to the kiosks 114 described in Fig. 1.Vehicle control device 202 can be configured thus in kiosks 114 Presenting user interface, it is input equipment, such as touch panel device.Kiosks 114 allows passenger to enter destination address, connects Bank settlement information, and make the reservation for travelling in future.The input received at passenger is transferred to by kiosks 114 Vehicle control device 202, the latter and then the input of reception is transferred to CCOS106.It addition, vehicle control device 202 can receive from The response of CCOS 106, it is for the input received at kiosks 114, and by kiosks 114 by this response Present to passenger.As said, kiosks 114 can be easy to the communication between passenger and CCOS 106.

Vehicle control device 202 also communicates with the position sensor 204 being positioned on vehicle, and it is configured so that it is determined that vehicle The current location of 202.Position sensor 204 can be gps receiver and gps signal transponder, and the former determines the current of vehicle 202 Position, the latter allows CCOS 106 to determine the gps coordinate of vehicle 102.Alternatively, position sensor 204 may be based on so that CCOS106 determines any other position of the assembly of the position of the vehicle 102 in controlled area 101.It addition, position sensor 204 also can be configured so that it is determined that vehicle 102 towards direction.In one embodiment, traffic system 110 has position mark Grid, position sensor 204 can utilize it to determine the current location of vehicle.In the control area covered, position sensor Can be optic position sensor, it be configured thus observes the optical position labelling on the end face (ceiling) of controlled area, from And determine the current location of the vehicle 102 in controlled area.

It addition, vehicle control device 202 also communicates with the detecting sensor 206 being positioned on vehicle 102.Detecting sensor 206 Can be configured thus detect the object around vehicle 102, the latter may not be detected by CCOS 106.By which, as Really vehicle 102 is sent to the second position from primary importance, and barrier may be hindered vehicle to be notified to car by detecting sensor 206 Controller 202.As a result, vehicle control device 202 or CCOS 106 can be configured so that vehicle 102 cut-through thing row Enter.In different embodiments, detecting sensor 206 is likely to detect other vehicles, and it therefore can be utilized to prevent and other The collision of vehicle.It should be appreciated that detecting sensor 206 can be automotive grade laser radar (LIDAR) (automotive grade Light detecting and radar), it can the barrier of 360 degree of scopes of perception motor vehicle environment.

Vehicle control device 202 can be configured further thus communicate with the passenger sensor 208 being positioned at vehicle 102.Take advantage of Visitor's sensor 208 can be configured so that it is determined that whether passenger is in vehicle 102.Once it is determined that whether passenger is in vehicle 102, take advantage of Visitor's sensor 208 just sends this information to vehicle control device 202.This information that vehicle control device 202 response receives, can be by certainly Server 114 is helped to present user interface to passenger.

According to embodiment, vehicle control device 202 is also configured thus receives navigation command from CCOS 106, is used for along CCOS The vehicle route navigation vehicle that 106 determine.Once receiving the navigation command from CCOS106, vehicle control device 202 just can produce Corresponding to the instruction of navigation command, and send this instruction to line traffic control module 210, thus control the motion of vehicle.It should be appreciated that In different embodiments, line traffic control module 210 can be a part for vehicle control device 202.

Line traffic control module 210 can be configured thus controls different assemblies, the latter for according to by vehicle control device 202 from The navigation command that CCOS 106 receives, controls speed and the direction of vehicle 102.According to embodiment, line traffic control module 210 can be configured Thus control to drive assembly 220, such as control steering assembly 222 by steering actuator 212, controlled by brake actuator 214 Brake assemblies 224 processed, controls acceleration component 226 by accelerating actuator 216, controls transmission component by drive actuator 218 228.Steering assembly 222 and transmission component 228 can be used for controlling the direction that vehicle 102 travels, and brake assemblies 224 and acceleration group Part 226 can be used for controlling the speed that vehicle 102 travels.It should be appreciated that drive the part that assembly 220 can be conventional truck, such as Automobile or a part for vehicle autonomy kit 104, thus with vehicle assembly can applied present on vehicle to be combined.

In different embodiments, by vehicle control device 202 from the navigation command that CCOS 106 receives can include one or More instructions performed by line traffic control module 210.Navigation command can include steering order, is used for controlling steering actuator 212, its control The direction of vehicle 102 processed.Navigation command may also comprise assisted instruction, is used for controlling to accelerate actuator 216, and it controls vehicle 102 Acceleration.Navigation command may also comprise brake instruction, is used for controlling brake actuator 214, and it controls the brake assemblies of vehicle 224, and gearing command, for using drive actuator 218 to select driving transmission or the reversing transmission of transmission component 228.

Generally promote the communication between vehicle control device 202 and CCOS 106 or network 116 by COM1 230.Logical Letter port 230 can be to promote any port of communication between vehicle control device 202 and network 116.According to embodiment, COM1 230 can be wireless aerial, wireless network card or any other device, and it can promote between vehicle control device 202 and network 116 Communication.

With reference now to Fig. 3-5, the operation about vehicle 102 and the other details of CCOS 106 will be described.It should be appreciated that This logical operation described is implemented as following two mode, and (1) realizes method or journey as the computer run in calculating system The order of sequence module, and/or (2) are as calculating the circulation of intrasystem interconnected machine logic or loop module.This execution is for depending on Performance and the problem of other selections required in the system of calculating.Therefore, logical operation described here is referred to variously as state Operation, constructional device, algorithm or module.These operations, constructional device, algorithm and module can be in software, hardware, specific purposes Digital logic module and any combination thereof are implemented.It should be appreciated that can perform than in figure and described herein more or less of Operation.These operations can be by performing with order different described here.

Fig. 3 illustrates and is disclosed a process for controlling the vehicle in traffic system according to some embodiment, diagram The flow chart of each side.Especially, Fig. 3 illustrates the routine 300 of the hand-propelled vehicle in controlling controlled area 101. Routine 300 starts from operation 302, and wherein hand-propelled vehicle such as automobile transfers system control model fortune to from driver's control model OK.

As it has been described above, when vehicle 102 is controlled by driver, vehicle 102 is referred to as being in driver's control model and runs.When When vehicle 102 is controlled by CCOS 106, vehicle 102 runs for system control model.According to embodiment, vehicle 102 can need to turn Shift to system control model, thus allow CCOS 106 to control vehicle.In one embodiment, vehicle 102 may need to be positioned at In the import of controlled area 101, control vehicle 102 for CCOS 106.Import can be the district on the border at controlled area 101 Territory, vehicle 102 can enter import hence into controlled area 101 through driver.

According to embodiment, the switch in the convertible vehicle of driver 102 of hand-propelled vehicle 102, thus from driver's control Pattern operation conversion operates to system control model.In an alternate embodiment, once vehicle 102 enters import, is detecting car After 102 occur in the import of controlled area 101, CCOS 106 can automatically by vehicle 102 from the operation of driver's control model Be converted to system control model.In this embodiment, vehicle 102 autonomy kit of vehicle 102 can be powered up, with Just CCOS 106 can detect vehicle 102 and enter the import of controlled area 101.

Routine 300 goes successively to operate 304, at this by being turned from driver's control model by vehicle from operation 302 Shift to system control model operation and activate vehicle autonomy kit 104.According to embodiment, vehicle autonomy kit 104 can include car Controller 202, COM1 230, position sensor 204, detecting sensor 206, passenger sensor 208 and kiosks 114.According to embodiment, when activating vehicle autonomy kit, vehicle autonomy kit can be mechanically connected one or more control trackless The actuator of vehicle 102, and can be configured thus from the CCOS one or more navigation command of reception.Then, vehicle control device 202, by sending instruction to the actuator of one or more control trackless vehicles, perform one or more navigation command.According to reality Executing example, when vehicle operates to driver's control model from system control model conversion, vehicle autonomy kit 104 is from trackless vehicle The one or more actuator machineries of 102 depart from.

Routine 300 goes successively to operate 306 from operation 304, sets up the connection with CCOS 106 at this vehicle 102. According to embodiment, the COM1 230 of vehicle can be configured thus connects network, the most once powers, and CCOS 106 just connects Network.Once the COM1 230 of vehicle is set up with network 116 and is connected, and vehicle 102 can be configured thus sends to CCOS 106 Information, vice versa.

Routine 300 306 goes successively to operate 308 from operation, send request to CCOS106 at this vehicle 102 thus Operate with system control model.In one embodiment, once power, vehicle control device 202 just can by COM1 230 to CCOS 106 sends request, thus operates with system control model.Can include by CCOS with the request of system control model operation 106 requests controlled.It addition, identification information, the such as car of associated vehicle 102 can be included with the request of system control model operation Identifier, in order to CCOS 106 is capable of identify that vehicle 102, the latter requires to operate with system control model.

Routine 300 goes successively to operate 310 from operation 308, receives request at this CCOS 106 from vehicle 102, from And operate with system control model.Routine 300 goes successively to operate 312, at this CCOS 106 by vehicle from operation 310 102 add to controlled vehicle list.This list is storable in CCOS 106 any computer-readable that is interior or that be positioned on network and deposits On storage media, it can be accessed by CCOS 106.

This list can include the list of all such vehicles, and it is controlled by CCOS 106 at present in controlled area 101. It addition, this list may also comprise the list of all vehicles previously controlled by CCOS 106.This list may also comprise association bag Containing the information of vehicle in lists, such as its current operating conditions, its current location, type of vehicle, historical route information etc. Deng.Whether current operating conditions may indicate that the most whether vehicle runs, stop or the most no longer within controlled area 101.Car Type can include only in controlled area 101 operation vehicle, such as car, truck, bus and emergency Vehicle.Historical route information can include the route that vehicle 102 has travelled in controlled area 101.Historical route information also can wrap Include loading and position of getting off, vehicle 102 enter import and the outlet of the already out controlled area of vehicle 102 101 of controlled area 101 And other information relevant to route.

Routine 300 goes successively to operate 314 from operation 312, controls vehicle 102 at this CCOS 106.Work as CCOS During 106 control vehicle 102, CCOS 106 can control car by sending navigation command to the vehicle control device 202 of vehicle 102 102.Then, vehicle control device 202 sends instruction to the line traffic control module of vehicle 102, and then, it is by associated vehicle 102 The actuator driving assembly 220 performs instruction.

Routine 300 goes successively to operate 316 from operation 314, the self-service clothes in this CCOS 106 is by vehicle 102 Business machine passenger in vehicle 102 presents user interface.This user interface can allow passenger to communicate with CCOS 106.According to enforcement Example, then, passenger can input the destination address that passenger wants vehicle 102 to be sent on a user interface.In other embodiments, CCOS 106 can be configured thus sends vehicle 102 to specific position based on the scheduled time table preserved by CCOS 106 Put.This timetable can include the following itinerary relevant to the passenger of vehicle 102.

Routine 300 goes successively to operate 318 from operation 316, determines the present bit of vehicle 102 at this CCOS 106 Put.CCOS 106 can determine the current location of vehicle 102 by receiving information from the position sensor 204 of vehicle 102.CCOS 106 can be configured thus determine the direction faced by vehicle 102 by the position sensor of vehicle 102.

Routine 300 goes successively to operate 320 from operation 318, determines the destination of vehicle 102 at this CCOS 106 Location.As it has been described above, CCOS 106 can the scheduled time table of passenger based on associated vehicle 102 and determine the destination of vehicle 102 Location.In one embodiment, vehicle 102 can be by being presented on the user interface in the kiosks 114 of vehicle 102 and from taking advantage of Destination address is received at Ke.

Once it is determined that the destination address of vehicle 102, routine 300 just goes successively to operate 322, at this from operation 320 CCOS 106 determines such vehicle route, and vehicle 102 is navigated to destination address from current location by it.According to embodiment, CCOS 106 can based on minimal path, the shortest time of traveling or other any determine for the deterministic models of route planning Vehicle route.It addition, vehicle route can be affected by the vehicle route of other vehicles controlled by CCOS 106.By which, CCOS 106 can select the route of other vehicles to be destroyed minimum vehicle route.This will make less traffic jam with And less or the most do not collide.It should be appreciated that CCOS 106 can control the multiple vehicles in controlled area 101, in order to eliminate Or reducing traffic dependent event, CCOS 106 can dynamically change the vehicle route of one or more vehicle.

Routine 300 322 goes successively to operate 324 from operation, at this CCOS 106 based on a determination that vehicle route will Vehicle 102 navigates to destination address.According to embodiment, CCOS 106 can send navigation life to the vehicle control device 202 of vehicle 102 Order.As it has been described above, navigation command can include the instruction that can be performed by vehicle 102, it makes vehicle 102 along vehicle route with spy Fixed speed and direction running.According to different embodiments, vehicle 102 can receive navigation command at vehicle control device 202, and it is then Sending the instruction corresponding to navigation command to the line traffic control module of vehicle 102, then the latter utilizes actuator to control the speed of vehicle 102 Degree and direction.

Routine 300 324 goes successively to operate 326 from operation, and at this, once CCOS 106 reaches the destination location, CCOS Vehicle 102 is just rested in the appointment stop position in controlled area 101 by 106.Specify stop position can be roadside or be to connect most The stop position of nearly controlled area 101.According to embodiment, CCOS 106 can determine which stop position is sky, because CCOS The list of 106 all stop positions in access-controlled region 101.The institute in controlled area 101 is known due to CCOS 106 There is the position of vehicle, so the position of each car 102 that CCOS 106 is potentially based in controlled area 101, determine which is stopped Position can be used.Once it is determined that empty stop position, vehicle 102 just can be sent to empty stop position by CCOS 106.Routine 300 End to operate 328 from operation 326.

Fig. 4 illustrates the flow process of each side of the process illustrating the vehicle in controlling traffic system disclosed herein Figure.Specifically, Fig. 4 illustrates for resting in the automobile navigation customary journey to the outlet of controlled area 101 of sky stop position Sequence 400.Routine 400 starts from operation 402, receives the request to vehicle 102 at this CCOS 106.This request can be existed by user In controlled area, any kiosks 114 of 101 produces.In one embodiment, this request can include sending this request The original address at user place.It addition, this request may also comprise the destination that user will get off after original address is written into Location.

Routine 400 goes successively to operate 404 from operation 402, determines the user of request vehicle 102 at this CCOS 106 Position.According to embodiment, this request can include the position of user, or CCOS 106 can be based on the Self-Service sending request The position of machine determines the position of user.

Routine 400 404 goes successively to operate 406 from operation, and navigating to vehicle 102 to be at this CCOS 106 please Ask at the user of position.As it has been described above, CCOS 106 can send navigation command to vehicle 102, it makes vehicle control device 202 incite somebody to action Vehicle 102 navigates to ask position.Once vehicle 102 arrives at request position, and CCOS 106 just can send to vehicle control device 202 Order so that the door of vehicle is opened.Then user can enter vehicle 102, and user becomes the passenger of vehicle in this moment.

Routine 400 goes successively to operate 408 from operation 406, the self-service clothes in this CCOS 106 is by vehicle 102 Business machine 114 receives destination address at passenger.This destination address can be any position in controlled area 101, including controlled area The outlet in territory 101.According to embodiment, as described in operation 402, destination address can with received together with the request of vehicle. But, in different embodiments, when passenger is in vehicle 102, can be at any time by the self-service clothes through being positioned at vehicle 102 Business machine 114 communicates with CCOS 106 and changes its destination address.

Routine 400 goes successively to operate 410 from operation 408, makes vehicle 102 navigate to purpose at this CCOS 106 Address.According to embodiment, destination address can be the outlet of controlled area 101.In this embodiment, when vehicle 102 arrival exit Time, CCOS can receive request, thus abandon controlling vehicle 102.Once vehicle enters outlet, and this request can automatically generate, or It can be the request that passenger is made by the kiosks 114 being positioned at vehicle 102.In different embodiments, passenger can be Request of any moment CCOS 106 abandons controlling vehicle.Once receiving this request, CCOS 106 just can be configured thus by vehicle Navigate to the outlet of controlled area 101, and once enter outlet, just abandon controlling vehicle.

Routine 400 goes successively to operate 412 from operation 410, and circulating a notice of to passenger at this CCOS 106 now can be by car 102 are changed into driver's control model from system control model.Once vehicle enters the outlet of controlled area 101, CCOS 106 just can circulate a notice of to passenger.According to embodiment, CCOS 106 can be by presenting this in the user interface of kiosks 114 Notify and circulate a notice of passenger.

Routine 400 goes successively to operate 413 from operation 412, is turned from system control model by vehicle 102 this passenger It is changed to driver's control model.According to embodiment, vehicle 102 can include can controlling to driver from the upset of system control model position The switch of mode position processed.Routine 400 goes successively to operate 415 from operation 413, is stopped at this vehicle autonomy kit 104 Only power supply.In one embodiment, once vehicle operates to driver's control model from system control model conversion, CCOS 106 Just can abandon controlling vehicle 102.

Routine 400 goes successively to operate 416 from operation 415, and the communication between this vehicle 102 and CCOS106 is eventually Only.According to embodiment, once the vehicle control device 202 of COM1 230 and/or vehicle 102 is closed, vehicle 102 and CCOS Communication between 106 just terminates.

Routine 400 goes successively to operate 418, at this CCOS 106 by vehicle 102 from controlled area from operation 416 Controlled vehicle list in 101 is removed.According to embodiment, CCOS106 can only control such vehicle, and it is registered in controlled In the list of the controlled vehicle in region 101.Routine 400 ends to operate 420 from operation 418.

It is disclosed herein that Fig. 5 illustrates according to some embodiment diagram emergency vehicle in controlling traffic system The flow chart of each side of process.Especially, Fig. 5 illustrates routine 500, and it enters for once receiving emergency vehicle Enter the notice of controlled area 101, just control the vehicle in the controlled area 101 of traffic system.Routine 500 starts from operation 502, receive emergency vehicle notice in the way to controlled area 101 at this CCOS 106.This notice can be wrapped further Include following information, its comprise the position of emergency, emergency vehicle by enter the import of controlled area 101 and arrive at into The estimation time of mouth.This notice can receive from emergency command center or emergency vehicle self.

Routine 500 goes successively to operate 504 from operation 502, determines import and emergency bits at this CCOS 106 The vehicle route of the emergency vehicle between putting.Routine 500 goes successively to operate 506, at this CCOS from operation 504 The appearance of 106 detection emergency vehicle.According to embodiment, once emergency vehicle enters controlled area 101, CCOS 106 Just can connect network 116 by detection emergency vehicle and detect the appearance of emergency vehicle.Routine 500 is from operation 506 go successively to operate 508, start to follow the tracks of emergency vehicle position of 101 in controlled area at this CCOS 106.

Routine 500 goes successively to operate 510 from operation 508, the car in this CCOS 106 determines controlled area 101 102 routes whether stopping emergency vehicle, and the time being re-routed to different routes is the most not enough.If vehicle 102 routes stopping emergency vehicle and be re-routed to the deficiency of time of different routes, routine 500 is just from operation 510 go successively to operate 512, make vehicle sail the side of road at this CCOS 106, in order to the motion of emergency vehicle Not by the obstruction of vehicle 102.If vehicle 102 does not stop the route of emergency vehicle, or has time enough to change its course, example Line program 500 just goes successively to operate 514 from operation 510, at this CCOS 106, vehicle 102 is kept or from emergency The route of vehicle sails out of.

Routine 500 goes successively to operate 516, at this except towards location of emergency from operation 512 and operation 514 Vehicle 102, CCOS 106 proceeds the normal operating of the vehicle 102 in controlled area 101.According to different embodiments, Vehicle 102 towards location of emergency can change its course, or stops until CCOS 106 determines the replacement position that vehicle 102 will change its course Put.Routine 500 goes successively to operate 518 from operation 516, receives such notice, i.e. urgent feelings at this CCOS 106 Condition vehicle advances towards the outlet of controlled area 101.According to embodiment, CCOS 106 can receive from emergency vehicle or tight The notice of anxious situation command center.

Routine 500 goes successively to operate 520 from operation 518, the car in this CCOS 106 determines controlled area 101 102 routes whether stopping emergency vehicle, and whether do not have time enough to be re-routed to different routes.If car Stopping the route of emergency vehicle, and do not have time enough to be re-routed to different routes, routine 500 is just from behaviour Make 520 to go successively to operate 522, make vehicle 102 be navigated to road side at this CCOS 106, in order to emergency vehicle Motion not by the obstruction of vehicle 102.If vehicle 102 does not stops the route of emergency vehicle or has time enough to change Road is to different routes, and routine 500 just goes successively to operate 524 from operation 520, makes vehicle 102 at this CCOS 106 Keep or sail out of from the route of emergency vehicle.

The once already out controlled area of emergency vehicle 101, routine 500 just goes successively to from operation 522 and 524 Operation 526, at this except the vehicle of the route towards outlet or emergency vehicle, CCOS 106 continues controlled area 101 The normal operating of interior vehicle 102.

It should be appreciated that trackless transit system can be configured thus due to the fact that the change of the traffic density made, i.e. exists A large amount of vehicles of navigation in controlled area, or some track or the closedown in region.Such as, as it has been described above, vehicle can be from urgent feelings Change its course in the track that condition vehicle travels.Similarly, when navigate in controlled area a large amount of vehicle time, CCOS can be configured thus passes through Change its course from crowded track adaptation traffic peak value by vehicle.Those skilled in the art it is also contemplated that, owing to CCOS knows each The route of trackless vehicle, so CCOS can based on trackless vehicle change its course, dynamically adjusts the route of other trackless vehicles.

In one example, a track can be closed due to fault car.In this case, CCOS can receive such letter Breath, i.e. Lane Closed and therefore by originally prepare on this track travel diversion of traffic to replacing route, therefore promoted hand over Through-flow and avoid owing to what Lane Closed caused any may block up.

Fig. 6 illustrates exemplary computer architecture 600, and it can perform software described here by mode set forth above Assembly, is used for providing trackless transit system and controlling this intrasystem adaptability trackless vehicle.During computer architecture 600 includes Central Processing Unit 602 (CPU), system storage 608 and system bus 604, wherein system processor 608 includes random access memory Memorizer 614 (RAM) and read only memory 616 (ROM), and memorizer is connected to CPU 602 by system bus 604.CPU 602 Can by operation difference both states and change the conversion element of both states, from a kind of discrete physics transition between states to Another kind of state and perform required operation.Conversion element generally can include the electricity keeping a kind of state in two kinds of binary conditions Electronic circuit, such as bistable multivibrator, and based on other conversion elements one or more of (such as gate) patrol Collect the electronic circuit of the output state of assembled state.These basic conversion elements can be combined thus produce more complicated logic electricity Road, including depositor, adder-subtractor, ALU, floating point unit etc..

Computer architecture 600 may also comprise mass storage device 610, and it is for storing operating system and special answering With module or other program modules, such as CCOS 106, the latter includes as described above for vehicle localization module 108 He described in Fig. 1 Wireless communication module 110.Mass storage device 610 is by being connected to the bulk memory controller (not shown) of bus 604 Connect CPU 602.Mass storage device 610 and association computer-readable media for computer architecture 600 provide non-easily The property lost memorizer.Computer architecture 600 can by conversion physical memory cell physical state thus reflect storage information and Mass storage device 600 stores data.In different embodiments of the invention, the concrete conversion of physical state can be depended on In various factors.The example of this factor may include but be not limited to for implementing the technology of physical memory cell, massive store dress Whether the feature putting 610 is main storage or external memory etc..Such as, computer architecture 600 can be by stored control Device produces and changes the instruction of following characteristics and information stored to mass storage device 610, i.e. changes disk drive unit In the magnetic characteristic of specific position, the reflection of specific position or refracting feature or special capacitor in optical memory unit, The electrical feature of other separation assemblies in transistor or solid state memory element.The scope and spirit illustrated without departing from this, thing Other conversions of reason media are possible, and examples provided above only promotes the understanding of this explanation.Computer architecture 600 can Deposited from Large Copacity by physical state or the feature of the one or more specific positions in detecting object memory element further Storage device 610 reads information.

Although the explanation of the computer-readable media comprised at this relates to mass storage device, such as hard disk or CD-ROM Driver, but it will be readily understood by those skilled in the art that computer-readable media can be can be by appointing that computer component 600 accesses The computer storage media what is available.Unrestricted as example, computer-readable media can include volatibility and non-volatile Property, removable and irremovable media, it performs with any method or the technology of storage information, and such as computer-readable refers to Make, data structure, program module or other data.Such as, computer-readable media include but not limited to RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technologies, CD-ROM, DVD (DVD), HD-DVD, BLU-RAY or its His optical memory, magnetic holder, tape, disk memory or other magnetic memory apparatus, or can be used in storing desired information also And any other media that can be accessed by computer architecture 600.

According to different embodiments, computer architecture 600 can use via network (such as network 116) and other aircraft systems Connect with the logic of remote computer and operate in a network environment.Computer architecture 600 can be by being connected to the net of bus 604 Network interface unit 606 and be connected to network 116.It should be appreciated that be possible with NIU 606, thus connect other types Network and remote computer system.

Computer architecture 600 may also comprise input-output controller 622, and it receives from other devices many and process defeated Go out, including kiosks 114 or other user input apparatus.Similarly, input-output controller 622 can be to Self-Service Machine 114 or other user's output devices provide output.

Subject matter described above provides the most in an exemplary fashion, and should not be construed as limiting.Can be to master described here Topic carries out following various change and change, the example embodiment the most according to diagram and not described and application, but wants without departing from right Ask change and the change of described true spirit and scope of the present invention.

Claims

1. for controlling an autonomous vehicular traffic system for the vehicle motion of the multiple trackless vehicles in traffic system, its bag Contain:

The controlled area that the plurality of trackless vehicle runs wherein；

Present the kiosks of user interface to user in described controlled area；

Order, control and arranging system, i.e. CCOS, wherein said user is communicated with described CCOS by described kiosks；

Multiple vehicle control devices, the trackless vehicle that each vehicle control device is associated with in the plurality of trackless vehicle, and And can run thus vehicle position information is communicated to described CCOS, receive navigation command and in described controlled area to be System control model controls described trackless vehicle according to described navigation command, and

Detecting sensor, this detecting sensor can run thus perception vehicle environmental, and is incited somebody to action by described vehicle control device Described vehicle environmental is communicated to described CCOS,

Wherein, described CCOS can run thus according to the vehicle position information received from the plurality of vehicle control device, to institute State multiple vehicle control device and navigation command is provided, and then control the motion of the plurality of trackless vehicle in described traffic system；

At least one of wherein said multiple trackless vehicle is configured to enter and leave described controlled area and be subject to described Control runs with driver's control model outside region, and at least one of wherein said multiple trackless vehicle is further configured For being just transformed into described system control model from described driver's control model once enter described controlled area；

Wherein said CCOS can run further thus utilize and receive from described detecting sensor via described vehicle control device Described vehicle environmental, be dynamically updated the vehicle route from the current location of described trackless vehicle to destination address, and then Avoid colliding with the one or more trackless vehicles also controlled by described CCOS that move.

Autonomous vehicular traffic system the most according to claim 1, a vehicle in wherein said multiple vehicle control devices Controller can run so that with the position sensor associated with described trackless vehicle, determines and associates with this vehicle control device The described vehicle position information of described trackless vehicle, and wherein said vehicle position information includes the current of described trackless vehicle Position.

Autonomous vehicular traffic system the most according to claim 2, wherein said CCOS can run thus:

Determine the destination address of described trackless vehicle；

Determine vehicle route, described trackless vehicle is navigated to described destination from described current location by this vehicle route Location；And

Navigation command is sent, in order to according to described vehicle route, worked as from described by described trackless vehicle to described vehicle control device Front position navigates to described destination address.

Autonomous vehicular traffic system the most according to claim 3, wherein said CCOS can run further so that it is determined that The destination address of described trackless vehicle, comprises the described user interface being presented in described kiosks and connects from described user Receive destination address.

Autonomous vehicular traffic system the most according to claim 2, it comprises line traffic control module further, this line traffic control module and institute State vehicle control device communication and can run thus according to the one or more navigation command received by described vehicle control device, Control speed and the direction of described trackless vehicle,

Wherein said vehicle control device can run thus further according to described navigation command, by sending out to described line traffic control module Send the instruction for the speed and direction controlling described trackless vehicle, control described trackless vehicle.

6., for the method controlling the motion of the autonomous intrasystem trackless vehicle of vehicular traffic, it comprises:

Described trackless vehicle is run with driver's control model outside the controlled area of described autonomous vehicular traffic system；

The most described trackless vehicle enters described controlled area, is just transformed into system from described driver's control model and controls mould Formula；

Send the destination address of trackless vehicle, described kiosks to CCOS via the kiosks in described controlled area User interface is presented to user；

Receiving at least one navigation command from described CCOS, this at least one navigation command corresponds to edge from current location to described The vehicle route described trackless vehicle of navigation of destination address；

Once receive at least one navigation command described, be carried out at least one navigation command described, in order at described controlled area Along the described vehicle route described trackless vehicle of navigation from described current location to described destination address in territory；

Vehicle environmental around trackless vehicle described in perception；

Described vehicle environmental is communicated to described CCOS, for producing the vehicle route updated according to described vehicle environmental；

Receive the navigation command of the renewal of the vehicle route corresponding to described renewal；And

Perform the navigation command of described renewal, in order to described trackless vehicle is navigated to described mesh along the vehicle route of described renewal Address.

Method the most according to claim 6, it comprises projected position labelling further, is used for allowing described CCOS to determine institute State the current location of trackless vehicle.

Method the most according to claim 6, wherein said navigation command comprises the direction for controlling described trackless vehicle Steering order, for moving the assisted instruction of described trackless vehicle, for the brake instruction of the described trackless vehicle that brakes or use In selecting to drive the gear instruction of gear or backing car gear.

Method the most according to claim 6, is wherein converted to institute by described trackless vehicle from described driver's control model State system control model and comprise activation vehicle autonomy kit, be mechanically connected control described trackless vehicle one when activated Or more multi-actuator, and can run thus from the described CCOS one or more navigation command of reception, and autonomously control Described trackless vehicle is to perform one or more navigation command, and when deactivated, this vehicle autonomy kit is with described The one of trackless vehicle or more multi-actuator machinery depart from.

Method the most according to claim 9, wherein activates described vehicle autonomy kit and comprises:

Open communication port；

Once open described COM1, just set up the connection between described CCOS；And

Send request, thus controlled by described CCOS.

11. methods according to claim 6, its further contained in described controlled area by described trackless vehicle from institute State the institute that the described system control model conversion that trackless vehicle controls is controlled to described trackless vehicle by driver by described CCOS State driver's control model.

12. 1 kinds for the vehicle autonomy kit of trackless vehicles navigated in traffic system, it comprises:

Position sensor, it can run thus follow the tracks of the current location of described trackless vehicle；

Vehicle detecting sensor, it can run thus perception vehicle environmental described vehicle environmental is communicated to wagon control Device；

Described vehicle control device can run thus

Send by the vehicle environmental of described vehicle detecting sensor perception to CCOS, and

Navigation command is received, for the described trackless vehicle in system control model navigation controlled area from described CCOS；With And

Line traffic control module, it is with described vehicle control device communication, and can run thus receive according to by described vehicle control device One or more navigation command in described controlled area, control speed and the direction of described trackless vehicle；

Wherein said trackless vehicle is configured to enter and leave described controlled area and to drive outside described controlled area The person's of sailing control model is run, and wherein said trackless vehicle is further configured to once enter described controlled area just from institute State driver's control model and be transformed into described system control model.

13. vehicle autonomy kit according to claim 12, comprise further and lead described in receiving on a communication network The COM1 of boat order.

14. vehicle autonomy kit according to claim 12, comprise further for control following assembly one or more Multi-actuator:

For regulating steering assembly and the transmission component in the direction of described trackless vehicle, and

For regulating acceleration component and the brake assemblies of the speed of described trackless vehicle.

15. vehicle autonomy kit according to claim 12, comprise described trackless vehicle further in described system control Between molding formula and described driver's control model conversion switch, in described system control model, described trackless vehicle by The order received at described vehicle control device controls, and in described driver's control model, described trackless vehicle is by driver Control.

16. vehicle autonomy kit according to claim 12, comprise passenger sensor further, and this passenger sensor can Run thus sense in whether passenger is in described trackless vehicle and be communicated to described vehicle control device.

17. vehicle autonomy kit according to claim 12, comprise input equipment further, and it can run thus receive And the input received by the passenger in described trackless vehicle that communicates.